CN1902813A - Motor controller - Google Patents
Motor controller Download PDFInfo
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- CN1902813A CN1902813A CNA2004800401124A CN200480040112A CN1902813A CN 1902813 A CN1902813 A CN 1902813A CN A2004800401124 A CNA2004800401124 A CN A2004800401124A CN 200480040112 A CN200480040112 A CN 200480040112A CN 1902813 A CN1902813 A CN 1902813A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
A motor controller wherein a superimposition signal generating section outputs a superimposition signal idh of repetitive waveform such as a triangular wave or a sine wave during motor speed control, a d-axis current command generating section adds the superimposition signal idh to a d-axis current command idc*0 to output a d-axis current command idc*, an axis offset detection section receives the d-axis current command idc* and a q-axis current command iqc* to output an axis offset angle estimate deltatheta', an axis offset correction section receives the axis offset angle estimate deltatheta' and an actually detected position thetam to output a corrected position thetam'. The axis offset can be detected and corrected by computation at a given time in real time during normal operation.
Description
Technical field
The present invention relates to carry out the control device of electric motor of the control of synchronous motor, particularly, relate to and have a control device of electric motor of deviation test section, this deviation test section detect dq axle that controlling object is a synchronous motor and and the dq axle of control between the axle drift angle.
Background technology
As the SERVO CONTROL of synchronous motor, generally carry out vector control, vector control be with electric current be divided into motor magnetic field flux direction (d axle) and with the direction (q axle) of its quadrature, carry out the control mode of Current Control respectively.In this vector control,, must detect the position of magnetic pole in order to produce moment of torsion effectively.
In addition, linear motor is to be used in combination with the incremental encoder that can not detect the absolute position of motor when the power connection mostly, but because incremental encoder can only detect relative position, so must detect the initial position of magnetic pole.If the low precision that this magnetic pole initial position detects, the dq axle (dc-qc axle) that then can produce the dq axle (dm-qm axle) of actual motor and control produces the axle bias phenomenon of deviation, can produce the deterioration of moment of torsion control precision and the bad influences such as minimizing of maximum generation moment of torsion.
In addition, under the situation of using absolute value encoder, owing to can detect the absolute position, thus there is no need to detect the initial stage position of magnetic pole, but under the situation of installation accuracy difference, can produce a deviation equally.
In the patent documentation 1 (spy opens the 2001-204190 communique), disclose following prior art, that is, specified in the deviation of existing position of magnetic pole when being installed to encoder on the synchronous motor.
In addition, as prior art, disclosed control device of electric motor in the patent documentation 2 (spy opens flat 10-323099 communique) is arranged, and the position of magnetic pole that it infers the rotor in the position Sensorless Control of salient pole type synchronous motor utilizes the position of magnetic pole presumed value to control.
The control device of electric motor of patent documentation 2 has such unit, its one of two axis coordinate systems of quadrature axially on, apply and infer with ac current signal or infer and use ac voltage signal, utilize the axial curtage of another quadrature, infer the position of magnetic pole of synchronous motor, in this control device of electric motor, position of magnetic pole is inferred the unit and is used with respect to inferring with ac current signal or inferring and use ac voltage signal with the detected curtage value of the timing of prescribed phases, infers position of magnetic pole.
In the initial magnetic pole position estimating device in described patent documentation 1, use initial magnetic pole to infer formula, correctly infer the drift angle of the initial magnetic pole position that when encoder being installed on the AC synchronous motor, exists, by it is shown, have the effect that can correctly adjust initial magnetic pole position, but because only at command torque electric current (q shaft current instruction iqc
*)=0 o'clock can be inferred, so exist in the problem that can not infer in the common action of speed control etc.
In addition, in the initial magnetic pole position estimating device in described patent documentation 1, after showing the axle drift angle, reinstalling encoder, must repeat to infer once more these a series of operations of a drift angle, have the problem that invalid operation occurs.
In addition, in the initial magnetic pole position estimating device in described patent documentation 1, owing in the process of inferring a drift angle, used division, so exist for noise, friction change, stablize the problem of the reliability reduction of disturbance load etc.
In addition, in the initial magnetic pole position estimating device in described patent documentation 1,,, infer the problem that precision worsens significantly so exist under the situation that to obtain correct constant owing in the inferring of axle drift angle, need constants such as inertia values and friction.
In addition, control device of electric motor in the described patent documentation 2, utilization is inferred and is used signal, with the regulation phase-detection flow through another quadrature the axle electric current, carry out multiplying, can infer the position of magnetic pole of synchronous motor with simple method, but owing to be the structure that does not comprise speed detector or position detector, can not utilize speed feedback information,, therefore have the problem that is difficult to improve the precision that position of magnetic pole infers so can not detect actual velocity variations or change in location.
In addition, in the control device of electric motor in described patent documentation 2, owing to be to utilize electric salient pole, so exist in the problem that is difficult to detect in the motor that do not have electric salient pole and the small size motor.
In addition, in the control device of electric motor in described patent documentation 2, utilize the characteristic of electric closed,, therefore have the problem that is subjected to the current detecting noise effect owing to can only utilize current feedback (can not utilize current-order).
In addition, in the control device of electric motor in described patent documentation 2, because superposed signal and detection signal are not same-phases, so need detect with certain specific phase bit timing, or need work hard in that peak value and rate of change are carried out aspects such as computing, there is the instruction repertorie complicated problems that becomes.
The present invention proposes in order to solve described problem, first purpose is, obtains a kind of control device of electric motor, and it is in the vector control of synchronous motor, can utilize simple structure in the common action of speed control etc., infer initial magnetic pole position.
In addition, second purpose is to obtain a kind of control device of electric motor, and it does not use division in inferring a drift angle.
In addition, the 3rd purpose is to obtain a kind of control device of electric motor, even its unfavorable motor constant of using also can be inferred initial magnetic pole position.
In addition, the 4th purpose is to obtain a kind of control device of electric motor, and it does not use and is used to obtain the complex time sequence that data are obtained timing, just can obtain the data necessary that is used to infer a drift angle.
Summary of the invention
Control device of electric motor of the present invention, because have: the speed operational part, it is the detection position by the position that utilizes the detected motor of detector or be connected the load on the motor, and actual speed is carried out computing; Speed controlling portion, it carries out speed control in the mode that this actual speed is followed speed command, the instruction of output q shaft current; The uvw/dq coordinate converting section, its input detected three-phase current in converter carries out from the coordinate transform of uvw three phase static coordinate system to the dq synchronous rotating frame output d shaft current and q shaft current; Current control division, the instruction of its input d shaft current, the instruction of described q shaft current, described d shaft current feedback and described q shaft current feedback, so that the dq axle actual current mode consistent with the instruction of dq shaft current carried out Current Control, output d shaft voltage instruction and the instruction of q shaft voltage; The dq/uvw coordinate converting section, it imports described d shaft voltage instruction, the instruction of described q shaft voltage and detection position, carries out from the coordinate transform of dq synchronous rotating frame to uvw three phase static coordinate system the instruction of output three-phase voltage; And converter, it imports this three-phase voltage instruction, applies actual three-phase voltage to motor, this motor is carried out variable speed drive, and have: superposed signal generating unit, the superposed signal of repetitive patterns such as its output triangular wave or sine wave; D shaft current instruction generating unit, it will be added in by the superposed signal that described superposed signal generating unit generates in the instruction of d shaft current, the instruction of output d shaft current; And axle deviation test section, it imports this d shaft current instruction and the instruction of described q shaft current, output shaft deviation presumed value, so, have when the axle deviation detects and not use actual current, by only in general servo control loop, appending a structure of deviation test section, just the current detecting The noise can be subjected to and the effect that detects accurately.In addition, owing to form speed control system,, therefore has the effect that under halted state almost, can detect a deviation so under the non-existent situation of axle deviation, produce velocity deviation hardly.In addition, in detecting the axle deviation, since use the data of the such phase place (homophase or anti-phase) unanimous on the whole of instruction of d shaft current and the instruction of q shaft current or moment of torsion current error, can be so have by the computing of the arbitrary timing in the common action, the effect that detects in real time.
In addition, because have: position control section, its input position instruction and by the detected detection position of described detector, follow the mode of position command with the detection position and carry out Position Control, speed command is outputed to described speed controlling portion, the superposed signal of repetitive patterns such as described superposed signal generating unit output triangular wave or sine wave, so, can carry out common Position Control action and carry out an effect of deviation detection while have.In addition, by forming position loop, do not depart from owing to worry the final absolute position after a deviation detects or proofreaies and correct, so, can guarantee situation of proofreading and correct in the initial stage absolute position etc. in hope, not want from the purposes that initial position moves, to use.In addition, owing to can observe the absolute position and, so for example when deviation is excessive, can report to the police stops it, perhaps carries out correspondence corresponding to the big minor change superposed signal of deviation with respect to the deviation of position command.
Control device of electric motor of the present invention, because have: the speed operational part, it is the detection position by the position that utilizes the detected motor of detector or be connected the load on the motor, and actual speed is carried out computing; The uvw/dq coordinate converting section, its input detected three-phase current in converter carries out from the coordinate transform of uvw three phase static coordinate system to the dq synchronous rotating frame output d shaft current and q shaft current; Current control division, the instruction of its input d shaft current, the instruction of described q shaft current, described d shaft current feedback and described q shaft current feedback, so that the dq axle actual current mode consistent with the instruction of dq shaft current carried out Current Control, output d shaft voltage instruction and the instruction of q shaft voltage; The dq/uvw coordinate converting section, it imports described d shaft voltage instruction, the instruction of described q shaft voltage and detection position, carries out from the coordinate transform of dq synchronous rotating frame to uvw three phase static coordinate system the instruction of output three-phase voltage; And converter, it imports this three-phase voltage instruction, applies actual three-phase voltage to motor, and this motor is carried out variable speed drive, it is characterized in that having: superposed signal generating unit, the superposed signal of repetitive patterns such as its output triangular wave or sine wave; D shaft current instruction generating unit, it will be added in by the superposed signal idh that described superposed signal generating unit generates in the instruction of d shaft current, the instruction of output d shaft current; Moment of torsion current error operational part, its input is inferred the actual moment of torsion current error that produces by the actual speed and the instruction of q shaft current of the output of speed operational part in motor; And axle deviation test section, it imports described d shaft current instruction and described moment of torsion current error, output shaft drift angle presumed value, so, have operable effect under the common operate condition of input torque instruction.In addition, not that the q shaft current is instructed but the operation values of moment of torsion current error owing to what utilize, so, also can correctly detect the effect of a deviation even have under the situations of absolute value more than or equal to 90 degree of axle drift angle.
In addition, because have: speed controlling portion, it carries out speed control in the mode that actual speed is followed speed command, the instruction of output q shaft current, the superposed signal of repetitive patterns such as described superposed signal generating unit output triangular wave or sine wave, so, can be according to actual speed, the moment of torsion current error of computing actual motor uses it to carry out a deviation and detects, even under the situation that the speed control frequency band is low not improving the speed control response, also can detect a deviation.
In addition, because have: axle offset correction portion, its input is from the axial deviation angle estimating value of described axle deviation test section output with by the detected detection position of described detector, position after computing is proofreaied and correct, output to described dq/uvw coordinate converting section and described uvw/dq coordinate converting section, described dq/uvw coordinate converting section and described uvw/dq coordinate converting section are carried out coordinate transform according to the position after proofreading and correct, so, do not install in advance the temporary transient encoder of installing also can, have the effect of good operability.In addition, in the axle deviation detects, owing to use the data of the such phase place (homophase or anti-phase) unanimous on the whole of instruction of d shaft current and the instruction of q shaft current or moment of torsion current error, so have the effect that the computing that can utilize the arbitrary timing in moving is usually proofreaied and correct in real time.
In addition, because described axle deviation test section has: first input filter, it instructs to the d shaft current and carries out Filtering Processing, and the output shaft deviation detects uses the d axis signal; Second input filter, it carries out Filtering Processing to instruction of q shaft current or moment of torsion current error, and the output shaft deviation detects uses the q axis signal; Adapt to the input operational part, it detects the detection of described axle deviation and multiplies each other with the q axis signal with d axis signal and described axle deviation, and computing adapts to input; Gain portion, it multiply by gain in this adaptation input, generate the integration input; And integrator, it carries out integration to this integration input, output shaft drift angle presumed value, so, can utilize the Signal Separation that filter only will detect to be needed in the axle deviation, therefore have the effect that in (speed control action) moved in running usually, also can detect with the axis calibration deviation.In addition, even also can infer initial magnetic pole position with motor constant, so have the effect of the influence that is not subjected to the motor constant error owing to unfavorable.
In addition, because described axle deviation test section has: first input filter, it instructs to the d shaft current and carries out Filtering Processing, and the output shaft deviation detects uses the d axis signal; The variable gain operational part, it carries out computing to the function that this deviation detects with the d axis signal; Second input filter, it carries out Filtering Processing to instruction of q shaft current or moment of torsion current error, and the output shaft deviation detects uses the q axis signal; Adaptation input operational part, it detects described axle deviation with the function and the detection of described axle deviation of d axis signal and multiplies each other with the q axis signal, and computing adapts to input; And integrator, it carries out integration to this integration input, output shaft drift angle presumed value, so, utilize the method for carrying out the function of computing by the variable gain operational part, have the effect that precision, convergence rate are improved.
In addition, because described axle deviation test section has: first input filter, it instructs to the d shaft current and carries out Filtering Processing, and the output shaft deviation detects uses the d axis signal; First symbol detector, it detects this deviation and detects the symbol of using the d axis signal, exports signed axle deviation detection d axis signal; Second input filter, it carries out Filtering Processing to instruction of q shaft current or moment of torsion current error, and the output shaft deviation detects uses the q axis signal; Second symbol detector, it detects this deviation and detects the symbol of using the q axis signal, exports signed axle deviation detection q axis signal; Adapt to the input operational part, it detects the detection of described signed axle deviation and multiplies each other the signed adaptation input of computing with the q axis signal with d axis signal and described signed axle deviation; Gain portion, it multiply by gain in this signed adaptation input, generate the integration input; And integrator, it carries out integration to this integration input, and output shaft drift angle presumed value is so also have the effect of the disturbance of strengthening pulse type.
In addition, because described axle deviation test section has: first input filter, it instructs to the d shaft current and carries out Filtering Processing, and the output shaft deviation detects uses the d axis signal; Second input filter, it carries out Filtering Processing to instruction of q shaft current or moment of torsion current error, and the output shaft deviation detects uses the q axis signal; Infer the output operational part, its axle deviation that will utilize described input filter to carry out Filtering Processing detects and multiplies each other with d axis signal and axial deviation angle estimating value described later, and output is inferred in output; Axle offset error operational part, it is obtained the axle deviation of utilizing described input filter to carry out Filtering Processing and detects with the q axis signal with by described poor between the output of inferring of exporting that operational part exports, the output shaft offset error of inferring; Variable gain portion, it multiply by gain on the axle offset error by this offset error operational part output, the input of output integration; And integrator, it carries out integration to the integration input from this variable gain portion output, obtains the axial deviation angle estimating value, so, can suppress The noise, have the effect that can detect a deviation accurately.In addition, detect, or do not proofread and correct and only carry out the detection of a deviation, so also have the wide effect of the scope of application while can proofread and correct in real time.
Control device of electric motor of the present invention, because have: the speed operational part, it is the detection position by the position that utilizes the detected motor of detector or be connected the load on the motor, and actual speed is carried out computing; The uvw/dq coordinate converting section, its input detected three-phase current in converter carries out from the coordinate transform of uvw three phase static coordinate system to the dq synchronous rotating frame output d shaft current and q shaft current; Current control division, the instruction of its input d shaft current, the instruction of q shaft current, described d shaft current feedback and described q shaft current feedback, so that the dq axle actual current mode consistent with the instruction of dq shaft current carried out Current Control, output d shaft voltage instruction and the instruction of q shaft voltage; The dq/uvw coordinate converting section, it imports described d shaft voltage instruction, the instruction of described q shaft voltage and detection position, carries out from the coordinate transform of dq synchronous rotating frame to uvw three phase static coordinate system the instruction of output three-phase voltage; And converter, it imports this three-phase voltage instruction, apply actual three-phase voltage to motor, this motor is carried out variable speed drive, it is characterized in that, have: the superposed signal generating unit, it is set at zero with the instruction of q shaft current, exports the superposed signal of repetitive patterns such as triangular wave or sine wave simultaneously; D shaft current instruction generating unit, it will be added in by the superposed signal that described superposed signal generating unit generates in the instruction of d shaft current, the instruction of output d shaft current; Axle deviation test section, it imports this d shaft current instruction and the instruction of described q shaft current, output shaft drift angle presumed value; Display part, it shows this axial deviation angle estimating value; Memory, it stores this axial deviation angle estimating value; And axle offset correction portion, its input is stored in axial deviation angle estimating value and the described detection position in this memory, the position behind the output calibration, so, have to save and infer an effect of these a series of operations of drift angle again after reinstalling encoder.
Description of drawings
Fig. 1 is the figure of the structure of the control device of electric motor that relates to of expression embodiments of the present invention 1.
Fig. 2 is the figure of an example of the structure of the axle deviation test section 11a in the control device of electric motor that relates to of expression embodiments of the present invention 1.
Fig. 3 is the figure of the relation of the dq axle (dm-qm axle) of explanation actual motor and the dq axle (dc-qc axle) controlled.
Fig. 4 is the figure of an example of the structure of the axle deviation test section 11b in the control device of electric motor that relates to of expression embodiments of the present invention 2.
Fig. 5 is the figure of an example of the structure of the axle deviation test section 11c in the control device of electric motor that relates to of expression embodiments of the present invention 3.
Fig. 6 is the figure of an example of the structure of the axle deviation test section 11d in the control device of electric motor that relates to of expression embodiments of the present invention 4.
Fig. 7 is the figure of the structure of the control device of electric motor that relates to of expression embodiments of the present invention 5.
Fig. 8 is the figure of the structure of the control device of electric motor that relates to of expression embodiments of the present invention 6.
Fig. 9 is the figure of the structure of the control device of electric motor that relates to of expression embodiments of the present invention 7.
Figure 10 is the figure of the structure of the control device of electric motor that relates to of expression embodiments of the present invention 8.
Embodiment
Fig. 1 is the figure of the structure of the control device of electric motor that relates to of expression embodiments of the present invention 1.In addition, Fig. 2 is the figure of an example of the structure of the axle deviation test section in the control device of electric motor that relates to of expression embodiments of the present invention 1.In addition, Fig. 3 is the figure of the relation of the dq axle (dm-qm axle) of explanation actual motor and the dq axle (dc-qc axle) controlled.
Utilize Fig. 1～Fig. 3, the processing action of the control device of electric motor that execution mode 1 is related to describes.
In Fig. 1, speed controlling portion 1 input speed instruction wm
*With actual speed wm, follow speed command wm with actual speed wm
*Mode, utilize PI control etc., carry out speed control, output q shaft current instruction iqc
*In addition, current control division 2 input d shaft current instruction idc
*, q shaft current instruction iqc
*, d shaft current feedback idc and q shaft current feedback iqc, for example, utilize each PI control and Voltage Feedback control (non-interference control) etc. so that dq axle actual current and the consistent mode of dq shaft current instruction carry out Current Control, export the d shaft voltage and instruct vd
*With q shaft voltage instruction vq
*In addition, dq/uvw coordinate converting section 3 input d shaft voltage instruction vd
*, q shaft voltage instruction vq
*, the detection position, carry out from of the coordinate transform of dq synchronous rotating frame output three-phase voltage instruction vu to uvw three phase static coordinate system
*, vv
*, vw
*In addition, converter 4 input three-phase voltage instruction vu
*, vv
*, vw
*, apply actual three-phase voltage to motor 5, motor 5 is carried out variable speed drive.
In addition, uvw/dq coordinate converting section 6 input detected three-phase current iu, iv, iw in converter 4 carry out from the coordinate transform of uvw three phase static coordinate system to the dq synchronous rotating frame, to current control division 2 output d shaft current idc and q shaft current iqc.In addition, speed operational part 7 is actual detected position θ m by the position that utilizes detector 8 detected motor 5 or be connected the load on the motor 5, generally uses difference+filter that actual speed wm is carried out computing, outputs to speed controlling portion 1.
Below, the axle deviation detection mode of the Motor Control of the control device of electric motor that execution mode 1 is related to describes.
When SPEED CONTROL OF MOTOR, the superposed signal idh of repetitive patterns such as superposed signal generating unit 9 output triangular waves or sine wave.In d shaft current instruction generating unit 10, will be added in d shaft current instruction idc by the superposed signal idh that superposed signal generating unit 9 generates
*On 0, output d shaft current instruction idc
*In addition, axle deviation test section 11 (11a, 11b, 11c) input d shaft current instruction idc
*With q shaft current instruction iqc
*, output shaft drift angle presumed value Δ θ ^.In addition, axle offset correction 12 power shaft drift angle presumed value Δ θ ^ and the actual detected position θ m of portion, the position θ m ' behind the output calibration.
Below, utilize Fig. 2 that the processing action of axle deviation test section is described.
In Fig. 2, utilize as the input filter 101 of first input filter with as the input filter 102 of second input filter, to being input to the d shaft current instruction idc of a deviation test section 11a
*With q shaft current instruction iqc
*(perhaps moment of torsion current error iqm) carries out Filtering Processing, and the output shaft deviation detects with d axis signal idh and axle deviation and detects with q axis signal iqh.The filter characteristic of input filter 101,102 is basic identical, and select tape bandpass filter etc., this band pass filter are selected the shaft deviation and detected the frequency content that will utilize.
Then, utilize to adapt to input operational part 103a, the axle deviation is detected to detect with d axis signal idh and axle deviation multiply each other, adaptation is imported (idb * iqh) carries out computing with q axis signal iqh.Utilize gain portion 104 then, (multiply by gain on the idh * iqh), generate the integration input, integrator 105 is with this value integration, output shaft drift angle presumed value Δ θ ^ adapting to input.
If making a drift angle is Δ θ, then at d shaft current instruction idc
*On apply under the situation of superposed signal idh of interchange, on motor, produce the torque capacity current error iqm of following formula (1).The frequency of superposed signal is preferably several 10Hz.
iqm＝idh·sinΔθ ……(1)
Here, if assumed load only is desirable inertia, then to producing speed fluctuation by moment of torsion.In addition, if form speed control system in the mode of execution mode 1, and its frequency band is enough high, and then its result produces such q shaft current change iqh,, has removed the torque capacity current error iqm that produces because of the superposed signal idh that exchanges that is.
iqh＝iqm·cosΔθ ……(2)
If little the arriving to a certain degree in supposition axle drift angle, then q shaft current change iqh can be approximated to be following formula (3).
iqh≈iqm≈idh·Δθ ……(3)
In addition, utilize Fig. 3, the relation of the dq axle (dc-qc axle) of the dq axle (dm-qm axle) of actual motor and control is described.Fig. 3 (a) is that expression axle drift angle Δ θ is the figure of the relation under the situation of 0＜Δ θ＜pi/2, and to be expression axle drift angle Δ θ be the figure of the relation under the situation of-pi/2＜Δ θ＜0 to Fig. 3 (b).As shown in Figure 3, the axle deviation detects with d axis signal idh and q shaft current change iqh, polarity corresponding to Δ θ, become homophase or anti-phase relation, import in the adaptation that calculates by adaptation input operational part 103 (idh * iqh) be timing, Δ θ＞0, in addition, with adapt to the adaptation input that input operational part 103 transports calculation (idh * iqh) when negative, Δ θ＜0.
Axial deviation angle estimating value Δ θ ^ utilizes gain portion 104,105 pairs of integrators to adapt to input (idh * iqh) carry out calculating after the integral compensation, by axle offset correction portion 12 with Fig. 1, axial deviation angle estimating value Δ θ ^ is proofreaied and correct with detection position θ m, a drift angle Δ θ is restrained in the mode of Δ θ → 0.
It is formulated as following formula (4).K is a storage gain, and s is the symbol of differentiating.
Axial deviation angle estimating value Δ θ ^=(K/s) (idh * iqh) ... (4)
Utilize described processing, can detect, the axis calibration drift angle.
In execution mode 1, under the situation that flows through the d shaft current, at the vector control correct operation and do not produce moment of torsion under the consistent situation of the dc-qc axle of the dm-qm axle of motor and control, but under the situation that has the axle deviation, because the part of d shaft current becomes the q shaft current of motor, so can produce moment of torsion,, carry out the detection of a deviation by obtaining the mechanicalness response.The axle deviation detection mode of execution mode 1 is used in advance the back being derived roughly in the mode less than ± pi/2 in the primitive axis drift angle.
In addition, execution mode 1 is to make q shaft current instruction iqc
*=moment of torsion current error iqm, the example of handling.
In the control device of electric motor that execution mode 1 relates to, owing to when speed control, detect an axle drift angle,, can carry out the effect that high-precision axle deviation detects with little additional superposed signal so it is little to have an influence of friction of rest.
In addition, in the control device of electric motor that execution mode 1 relates to,, only separate the shaft deviation and detect required signal owing to can utilize filter, so have in (speed control action) moved in running usually the effect that also can carry out the detection and the correction of a deviation.In addition, if for example under the speed non-zero status of constant speed driving of being undertaken by the initial point restoring action etc., use, then have the influence that is not subjected to friction of rest, promptly use little superposed signal also can carry out the detection of very high-precision axle deviation well and the effect of correction.
In addition, in the control device of electric motor that execution mode 1 relates to, owing to form speed control system, so under the situation that does not have a deviation, produce velocity deviation hardly, therefore have following effect, that is, can not follow a deviation to detect and the generation shift in position, and speed command be zero or position command be under zero the situation, also can under the state that almost stops, detecting a deviation.
In addition, in the control device of electric motor that execution mode 1 relates to, owing to become in integral the form of storage axle drift angle automatically, proofread and correct so this value can be remained in the memory etc., therefore the encoder of temporary transient installation can be installed in advance, have the effect of good operability.
In addition, in the control device of electric motor that execution mode 1 relates to, even because unfavorablely also can infer initial magnetic pole position, so have the effect that is not subjected to the motor constant error effect with motor constant.
In addition, in the control device of electric motor that execution mode 1 relates to, can be only in general servo control loop, to append a structure of deviation test section, have the very little effect of software burden.
In addition, axle deviation test section in the control device of electric motor that execution mode 1 relates to does not utilize division and arcsine, but only multiplication and the such simple structure of integrator, alleviate computational burden, had the effect that to proofread and correct with very short time real-time high-precision.In addition, owing to be not to obtain direct value with division but suitably detect, can carry out the effect that a deviation detects accurately so have.
In addition, during axle deviation in the control device of electric motor that execution mode 1 relates to detects, owing to can utilize variable (mechanical property) based on speed feedback, and unfavorable electric salient pole with motor, so have the effect that is not subjected to the current detecting The noise and can detects accurately, in the non-salient pole motor of surperficial magnetic motor etc., also can use.
In addition, the axle deviation test section in the control device of electric motor that execution mode 1 relates to does not use actual current and is to use current-order, is not subjected to the current detecting The noise so have, the effect that can detect accurately.
In addition, the axle deviation test section in the control device of electric motor that execution mode 1 relates to, as shown in Figure 3, owing to use d shaft current instruction idc
*With q shaft current instruction iqc
*(perhaps moment of torsion current error iqm) such phase place is the data of consistent (homophase or anti-phase) almost, so do not need try every possible means detection peak and rate of change, or detect etc. with the timing of certain phase place, have the computing that can utilize arbitrary timing, the effect that detects in real time or proofread and correct.
In execution mode 1, promptly adapt to input (example of idh * iqh) is illustrated to have used the axle deviation to detect the product that changes iqh with d axis signal idh and q shaft current, but under the situation of only using q shaft current change iqh, detect the symbol that changes iqh with d axis signal idh or q shaft current corresponding to the axle deviation, change storage gain K.
In addition, in the configuration example of axle deviation test section shown in Figure 2, at d shaft current instruction idc
*Under the big situation, it is big that integration input becomes, but this gains big more with the big more adaptation of input signal to be of equal value, can to improve precision and convergence rate.
In described explanation, to using the example of integral compensation device to be illustrated as the structure of axle deviation test section, still much less, if usage ratio integral compensation devices etc. can improve initial communication.
Below, utilizing Fig. 4, the processing action of the axle deviation test section 11b in the control device of electric motor that execution mode 2 is related to describes.In Fig. 4,101,102,104,105 is identical with Fig. 2, omits its explanation.The structure of axle deviation test section 11b shown in Figure 4 is, input filter 101,102 in axle deviation test section 11a shown in Figure 2 and adapting between the input operational part 103a inserts as the symbol detector 106 of first symbol detector with as the symbol detector 107 of second symbol detector.
Input is carried out axle deviation after the Filtering Processing by input filter 101,102 and is detected with d axis signal idh and axle deviation and detect with q axis signal iqh, by symbol detector 106,107 detected symbol, detect with q axis signal sign (iqh) with d axis signal sign (idh) and signed axle deviation as the detection of signed axle deviation, export adaptation input operational part 103b to.In adaptation input operational part 103b, the detection of signed axle deviation is multiplied each other with q axis signal sign (iqh) with d axis signal sign (idb) and the detection of signed axle deviation, the signed adaptation input of computing (idh * iqh).Then, in gain portion 104, will gain and (idh * iqh) multiply each other generates the integration input, and integrator 105 carries out integration to this value, output shaft drift angle presumed value Δ θ ^ in signed adaptation input.
Among the adaptation input operational part 103a of axle deviation test section 11a in the control device of electric motor that execution mode 1 relates to, to utilize input filter 101, the 102 axle deviations of having carried out Filtering Processing detect with d axis signal idh and the detection of axle deviation and multiply each other with q axis signal iqh, computing adaptation input (idh * iqh), relative with it, among the adaptation input operational part 103b of axle deviation test section 11b in the control device of electric motor that execution mode 2 relates to, with symbol detector 106,107 output is that the detection of signed axle deviation is multiplied each other with q axis signal sign (iqh) with d axis signal sign (idh) and the detection of signed axle deviation, and operating principle is identical.
In described the 4th figure, illustrated that obtaining a spool deviation detects with d axis signal idh and axle deviation and detect the two the example of symbol with q axis signal iqh, but obtaining under the situation of a symbol arbitrarily, can carry out identical action though convergence property is different.
Because the structure of the axle deviation test section that execution mode 2 relates to is to insert symbol detector 106,107 between input filter 101,102 and adaptation input operational part 103a, so have the effect of the computational burden that can alleviate the back.In addition, owing to use symbol, also has the effect that the disturbance of pulse type is strengthened.
In described explanation, the example that has used the integral compensation device is narrated, but much less,, then can be improved initial communication if use direct ratio integral compensation device etc.
Below, utilize the processing action of the axle deviation test section 11c in the control device of electric motor that Fig. 5 relates to execution mode 3 to describe.
Utilize input filter 101,102, to the d shaft current instruction idc of power shaft deviation test section 11c
*With q shaft current instruction iqc
*(or moment of torsion current error iqm) carries out Filtering Processing, and the output shaft deviation detects with d axis signal idh and axle deviation and detects with q axis signal iqh.
Infer output operational part 108 and will detect by the axle deviation that input filter 101 has carried out Filtering Processing and multiply each other, export and infer output (idh * Δ θ ^) with d axis signal idh and output shaft described later drift angle presumed value Δ θ ^.In addition, axle offset error operational part 109 obtain the axle deviation of having carried out Filtering Processing by input filter 102 detect with q axis signal iqh and from infer export that operational part 108 exports infer the poor of output (idh * Δ θ ^), output shaft offset error.In addition, gain be multiply by in the axle offset error from 109 outputs of axle offset error operational part in variable gain portion 110, the input of output integration, and integration is carried out in 111 pairs of integration inputs from 110 outputs of variable gain portion of integrator, obtains axial deviation angle estimating value Δ θ ^.
If above-mentioned recurrence formula with discrete time is represented, become following formula (5).Variable gain G uses fixed gain or following formula (6).Following formula (5), (6) are to utilize to be called as the fixedly statistical method of tracing.In addition, P0 is a coefficient.
Δθ^[K]＝Δθ^[K-1]+G[K](iqh[K]-idh[K]·Δθ^[K-1])……(5)
G[K]＝P0·iqh[K] ……(6)
The axle deviation test section that execution mode 3 relates to because do not use division in the axle deviation detects, and is to use the method for statistics, so can suppress The noise, has and can high accuracy carry out the effect that a deviation detects.In addition, while because can proofread and correct in real time and detect, and can not proofread and correct and only carry out the detection of a drift angle, so also have the wide effect of range of application.
In described explanation, the example that has used the integral compensation device is narrated, but much less, if usage ratio integral compensation device then can improve initial communication.
Below, utilize the processing action of the axle deviation test section 11d in the control device of electric motor that Fig. 6 relates to execution mode 4 to describe.The structure of Fig. 6 is that the back segment of the input filter 101 in axle deviation test section 11a shown in Figure 2 is provided with variable gain operational part 112, omits gain portion 104.
In Fig. 6, utilize input filter 101, to being input to the d shaft current instruction idc among the deviation test section 11a as first input filter
*Carry out Filtering Processing, the output shaft deviation detects with d axis signal idh.In variable gain operational part 112, utilize function G (idh) or tabulation, detect with d axis signal idh, operation function G (idh) by axle deviation from input filter 101 outputs.In addition, utilize input filter 102, to being input to the q shaft current instruction iqc among the deviation test section 11a as second input filter
*(or moment of torsion current error iqm) carries out Filtering Processing, and the output shaft deviation detects with q axis signal iqh.The filter characteristic of input filter 101,102 is basic identical, and select tape bandpass filter etc., this band pass filter are selected the frequency content of utilizing in the axle deviation detects.
Then, in adapting to input operational part 113, function G (idh) and the detection of axle deviation are multiplied each other with q axis signal iqh, computing adapts to input (G (idh) * iqh).Then, integrator 114 carries out integration to this value, output shaft drift angle presumed value Δ θ ^.
In execution mode 4, utilize the method for function, have the effect of easy raising precision and convergence rate.For example, under the situation of thinking convergence fast, for example use the function shown in (b) among the figure, bigger by when idh is big, making gain, increase sensitivity, can restrain fast.
In the axle deviation test section 11d of execution mode 4, be G (idh)=K * idh if make the function in function G (idh) portion 112, then become the structure identical with Fig. 2.
In addition, be G (idh)=sign (idh) if make function, then with to have omitted the structure of sign107 identical among Fig. 4.
Utilize the processing action of the control device of electric motor that Fig. 7 relates to embodiments of the present invention 5 to describe.In Fig. 7,1～10,11 (11a, 11b, 11c, 11d), 12 identical with Fig. 1 omit its explanation.Fig. 7 is in Fig. 1 of the structure of the control device of electric motor of expression execution mode 1, has appended position control section 13, carries out Position Control.
In the control device of electric motor that execution mode 5 relates to, can carry out the effect that common Position Control action detects the axle deviation while have.
In addition, in the control device of electric motor that execution mode 5 relates to, by forming position loop, because not worrying the final absolute position after a deviation detects or proofreaies and correct departs from, so situation about can proofread and correct when initial absolute position is guaranteed in hope is inferior, do not want from the purposes that initial position moves, to use.
In addition, in the control device of electric motor that execution mode 5 relates to, owing to can observe the absolute position and with respect to the deviation of position command, so for example when deviation is excessive, can it be stopped with warning, or deal with according to big minor change superposed signal of deviation etc.
Utilize the processing action of the control device of electric motor that Fig. 8 relates to embodiments of the present invention 6 to describe.In Fig. 8,2～10,11 (11a, 11b, 11c), 12 identical with Fig. 1 omit its explanation.Fig. 7 does not have speed command and situation about using etc. in torque control mode, can not carry out an employed example under the situation of speed control, uses q shaft current instruction iqc
*0.
14 inputs of moment of torsion current error operational part are from the actual speed wm and the q shaft current instruction iqc of 7 outputs of speed operational part
*0, for example the observer of the processing of following formula (7) is carried out in use, infers the actual moment of torsion current error iqm that produces in motor.
iqm＝(ωc/(s+ωc))·(iqc
*0-J/Kt·sωm) ……(7)
Wherein, s is the symbol of differentiating, and ω c is the frequency band of observer.
The ω c/ of following formula (7) (s+ ω c) simplifies with the input filter portion combination back of axle deviation test section to form.
In the control device of electric motor that execution mode 5 relates to, owing to q shaft current instruction iqc as torque command
*0 to there is no need be zero, so have operable effect under the common operate condition of input torque instruction.
In addition, because be not q shaft current instruction but utilize the operation values of moment of torsion current error, so have under the situations of absolute value more than or equal to 90 degree of axle drift angle the effect that yet can correctly carry out the detection of a deviation.
In the control device of electric motor that described execution mode 6 relates to, be illustrated with example, but also be applicable to for example there is not detector with detector, use other method to carry out in the structure of inferring of position or speed.
Utilize Fig. 9, the processing action of the control device of electric motor that embodiments of the present invention 7 are related to describes.Fig. 9 has appended speed controlling portion 1 and has constituted speed control system in Fig. 8, on one side can carry out the speed control action, carry out a deviation detection on one side, and in Fig. 9,2～10,11 (11a, 11b, 11c), 12,14 identical with Fig. 8 omit its explanation.
In addition, Fig. 9 is in Fig. 1 of the structure of the control device of electric motor that expression execution mode 1 relates to, append moment of torsion current error operational part 14, in axle deviation test section 11 (11a, 11b, 11c), import moment of torsion current error iqm that infers by moment of torsion current error operational part 14 and the d shaft current instruction idc that exports by d shaft current instruction generating unit 10
*, output shaft drift angle presumed value Δ θ ^.
14 inputs of moment of torsion current error operational part are from the actual speed wm of speed operational part 7 outputs and the q shaft current instruction iqc that exports from speed controlling portion 1
*, for example the observer of the processing of following formula (8) is carried out in use, infers the moment of torsion current error iqm that actual motor produces.
iqm＝(ωc/(s+ωc))·(iqc
*-J/Kt·sωm) ……(8)
Here, s is the symbol of differentiating, and ω c is the frequency band of observer.
The ω c/ of following formula (7) (s+ ω c) simplifies with the input filter portion combination back of axle deviation test section to form.
In the axle deviation test section 11 (11a, 11b, 11c, 11d) of the control device of electric motor that execution mode 1 and execution mode 5 relate to, input is from the q shaft current instruction iqc of speed controlling portion 1 output
*With d shaft current instruction idc from 10 outputs of d shaft current instruction generating unit
*, output shaft drift angle presumed value Δ θ ^, but in the axle deviation test section 11 (11a, 11b, 11c, 11d) of the control device of electric motor that execution mode 7 relates to, directly do not use q shaft current instruction iqc
*, but input is from actual speed Wm that is exported by speed calculation portion 7 and the q shaft current instruction iqc that is exported by speed controlling portion 1
*And the moment of torsion current error iqm that infers out and from the d shaft current instruction idc of d shaft current instruction generating unit 10 outputs
*, output shaft drift angle presumed value Δ θ ^.
In the control device of electric motor that execution mode 7 relates to, based on actual speed, moment of torsion current error to actual motor carries out computing, using it to carry out a deviation detects, even so under the situation that the speed control frequency band is low in that the speed control response is not high, also can carry out a deviation and detect.
In addition, not that the q shaft current is instructed but the operation values of moment of torsion current error owing to what utilize, so even under the situations of absolute value more than or equal to 90 degree of axle drift angle, also can correctly detect a deviation.
Utilize Figure 10, the processing action of the control device of electric motor of embodiments of the present invention 7 is described.In Figure 108,2～9 is identical with Fig. 8, omits its explanation.
The axle deviation of the Motor Control in the control device of electric motor that execution mode 8 relates to switches to torque control mode with control in detecting, and the instruction of q shaft current is set at zero, applies sine wave or triangular wave to the instruction of d shaft current.
In axle deviation test section 15, by d shaft current instruction idc from 10 outputs of d shaft current instruction generating unit
*Actual speed wm with from 7 outputs of speed operational part infers axial deviation angle estimating value Δ θ ^, outputs to display part 16 and memory 17.Display part 16 utilizes demonstration axial deviation angle estimating value Δ θ ^ such as 7 sections light-emitting diode displays.
In addition, the axial deviation angle estimating value Δ θ ^ and the actual detected position θ m of the 18 input storages in memory 17 of axle offset correction portion, the position θ m ' behind the output calibration.
In the control device of electric motor that execution mode 8 relates to, because in display part 16, show the axial deviation angle estimating value Δ θ ^ that infers, simultaneously the axial deviation angle estimating value Δ θ ^ that infers is stored in the memory 17, suppress a deviation by be added on the θ m of actual detected position at every turn, can save after reinstalling encoder so have, infer an effect of these a series of operations of drift angle once more.
In addition, in described execution mode 1～8, if utilize alternating component as superposed signal, then can remove the influence of the low-frequency disturbance that causes because of unbalanced loads such as friction of rest, viscous friction and gravity torque etc., have an effect that improves axle deviation accuracy of detection.In addition, by alternating component being set for the frequency that is separated with operating frequency and teeth groove moment of torsion frequency content, has the effect of the influence that can get rid of them.In addition, become a plurality of frequency contents,, also to be difficult to be subjected to the effect of its influence even have under the overlapping situation of the frequency range of alternating component and operating frequency and teeth groove moment of torsion frequency content scope by making to exchange.
In addition, in described execution mode 1～8, the example that calculates with the dimension of dq shaft current is narrated, but the dimension of changing into moment of torsion calculates, also can obtain identical effect.
In addition, in described execution mode 1～8, the example that applies superposed signal in the instruction of d shaft current is narrated, but also can be attached on d axle actual current and the d shaft voltage.
In addition, by comprise flip-flop and multi-frequency composition as superposed signal, can also improve reliability.In addition, also can be corresponding to the size of shift in position and speed fluctuation, the size of axle drift angle, the frequency and the size of change superposed signal.
In addition, in described execution mode 1～8, narrated and in the axle deviation detects, utilized q shaft current instruction iqc
*Or the example of moment of torsion electric current change iqm, but owing to,, can access identical action certainly so, replace proportional or the integral of utilizing velocity deviation Δ ω m and the instruction of q shaft current according to condition as long as they are based on each amount of speed feedback.
Controlling object as described control device of electric motor is a synchronous motor, and various forms such as linear motor, rotary-type motor can use.
Industrial applicibility
As mentioned above, in control device of electric motor of the present invention, because can be accurately Detect the axle deviation of synchronous motor, so be suitable for synchronous motor is carried out vector control Purposes in.
Claims (10)
1. control device of electric motor has:
The speed operational part, it is the detection position by the position that utilizes the detected motor of detector or be connected the load on the motor, and actual speed is carried out computing;
Speed controlling portion, it carries out speed control in the mode that this actual speed is followed speed command, the instruction of output q shaft current;
The uvw/dq coordinate converting section, its input detected three-phase current in converter carries out from the coordinate transform of uvw three phase static coordinate system to the dq synchronous rotating frame output d shaft current and q shaft current;
Current control division, the instruction of its input d shaft current, the instruction of described q shaft current, described d shaft current feedback and described q shaft current feedback, so that the dq axle actual current mode consistent with the instruction of dq shaft current carried out Current Control, output d shaft voltage instruction and the instruction of q shaft voltage;
The dq/uvw coordinate converting section, it imports described d shaft voltage instruction, the instruction of described q shaft voltage and detection position, carries out from the coordinate transform of dq synchronous rotating frame to uvw three phase static coordinate system the instruction of output three-phase voltage; And
Converter, it imports this three-phase voltage instruction, applies actual three-phase voltage to motor, and this motor is carried out variable speed drive,
It is characterized in that having:
The superposed signal generating unit, the superposed signal of repetitive patterns such as its output triangular wave or sine wave;
D shaft current instruction generating unit, it will be added in by the superposed signal that described superposed signal generating unit generates in the instruction of d shaft current, the instruction of output d shaft current; And
Axle deviation test section, it imports this d shaft current instruction and the instruction of described q shaft current, output shaft deviation presumed value.
2. control device of electric motor as claimed in claim 1 is characterized in that having:
Position control section, its input position are instructed and by the detected detection position of described detector, are followed the mode of position command with the detection position and carry out Position Control, and speed command is outputed to described speed controlling portion,
The superposed signal of repetitive patterns such as described superposed signal generating unit output triangular wave or sine wave.
3. control device of electric motor has:
The speed operational part, it is the detection position by the position that utilizes the detected motor of detector or be connected the load on the motor, and actual speed is carried out computing;
The uvw/dq coordinate converting section, its input detected three-phase current in converter carries out from the coordinate transform of uvw three phase static coordinate system to the dq synchronous rotating frame output d shaft current and q shaft current;
Current control division, the instruction of its input d shaft current, the instruction of described q shaft current, described d shaft current feedback and described q shaft current feedback, so that the dq axle actual current mode consistent with the instruction of dq shaft current carried out Current Control, output d shaft voltage instruction and the instruction of q shaft voltage;
The dq/uvw coordinate converting section, it imports described d shaft voltage instruction, the instruction of described q shaft voltage and detection position, carries out from the coordinate transform of dq synchronous rotating frame to uvw three phase static coordinate system the instruction of output three-phase voltage; And
Converter, it imports this three-phase voltage instruction, applies actual three-phase voltage to motor, and this motor is carried out variable speed drive,
It is characterized in that having:
The superposed signal generating unit, the superposed signal of repetitive patterns such as its output triangular wave or sine wave;
D shaft current instruction generating unit, it will be added in by the superposed signal idh that described superposed signal generating unit generates in the instruction of d shaft current, the instruction of output d shaft current;
Moment of torsion current error operational part, its input is inferred the actual moment of torsion current error that produces by the actual speed and the instruction of q shaft current of the output of speed operational part in motor; And
Axle deviation test section, it imports described d shaft current instruction and described moment of torsion current error, output shaft drift angle presumed value.
4. control device of electric motor as claimed in claim 3 is characterized in that having:
Speed controlling portion, it carries out speed control in the mode that actual speed is followed speed command, the instruction of output q shaft current,
The superposed signal of repetitive patterns such as described superposed signal generating unit output triangular wave or sine wave.
5. as each described control device of electric motor in the claim 1 to 4, it is characterized in that having:
Axle offset correction portion, its input is from the axial deviation angle estimating value of described axle deviation test section output with by the detected detection position of described detector, and the position after computing is proofreaied and correct outputs to described dq/uvw coordinate converting section and described uvw/dq coordinate converting section,
Described dq/uvw coordinate converting section and described uvw/dq coordinate converting section are carried out coordinate transform according to the position after proofreading and correct.
6. as each described control device of electric motor in the claim 1 to 5, it is characterized in that described axle deviation test section has:
First input filter, it instructs to the d shaft current and carries out Filtering Processing, and the output shaft deviation detects uses the d axis signal;
Second input filter, it carries out Filtering Processing to instruction of q shaft current or moment of torsion current error, and the output shaft deviation detects uses the q axis signal;
Adapt to the input operational part, it detects the detection of described axle deviation and multiplies each other with the q axis signal with d axis signal and described axle deviation, and computing adapts to input;
Gain portion, it multiply by gain in this adaptation input, generate the integration input; And
Integrator, it is to this integration input carrying out integration, output shaft drift angle presumed value.
7. as each described control device of electric motor in the claim 1 to 5, it is characterized in that described axle deviation test section has:
First input filter, it instructs to the d shaft current and carries out Filtering Processing, and the output shaft deviation detects uses the d axis signal;
The variable gain operational part, it carries out computing to the function that this deviation detects with the d axis signal;
Second input filter, it carries out Filtering Processing to instruction of q shaft current or moment of torsion current error, and the output shaft deviation detects uses the q axis signal;
Adaptation input operational part, it detects described axle deviation with the function and the detection of described axle deviation of d axis signal and multiplies each other with the q axis signal, and computing adapts to input; And
Integrator, it is to this integration input carrying out integration, output shaft drift angle presumed value.
8. as each described control device of electric motor in the claim 1 to 5, it is characterized in that described axle deviation test section has:
First input filter, it instructs to the d shaft current and carries out Filtering Processing, and the output shaft deviation detects uses the d axis signal;
First symbol detector, it detects this deviation and detects the symbol of using the d axis signal, exports signed axle deviation detection d axis signal;
Second input filter, it carries out Filtering Processing to instruction of q shaft current or moment of torsion current error, and the output shaft deviation detects uses the q axis signal;
Second symbol detector, it detects this deviation and detects the symbol of using the q axis signal, exports signed axle deviation detection q axis signal;
Adapt to the input operational part, it detects the detection of described signed axle deviation and multiplies each other the signed adaptation input of computing with the q axis signal with d axis signal and described signed axle deviation;
Gain portion, it multiply by gain in this signed adaptation input, generate the integration input; And
Integrator, it is to this integration input carrying out integration, output shaft drift angle presumed value.
9. as each described control device of electric motor in the claim 1 to 5, it is characterized in that described axle deviation test section has:
First input filter, it instructs to the d shaft current and carries out Filtering Processing, and the output shaft deviation detects uses the d axis signal;
Second input filter, it carries out Filtering Processing to instruction of q shaft current or moment of torsion current error, and the output shaft deviation detects uses the q axis signal;
Infer the output operational part, its axle deviation that will utilize described input filter to carry out Filtering Processing detects and multiplies each other with d axis signal and axial deviation angle estimating value described later, and output is inferred in output;
Axle offset error operational part, it is obtained the axle deviation of utilizing described input filter to carry out Filtering Processing and detects with the q axis signal with by described poor between the output of inferring of exporting that operational part exports, the output shaft offset error of inferring;
Variable gain portion, it multiply by gain on the axle offset error by this offset error operational part output, the input of output integration; And
Integrator, it carries out integration to the integration input from this variable gain portion output, obtains the axial deviation angle estimating value.
10. control device of electric motor has:
The speed operational part, it utilizes by detected motor of detector or the position that is connected the load on the motor is the detection position, and actual speed is carried out computing;
The uvw/dq coordinate converting section, its input detected three-phase current in converter carries out from the coordinate transform of uvw three phase static coordinate system to the dq synchronous rotating frame output d shaft current and q shaft current;
Current control division, the instruction of its input d shaft current, the instruction of q shaft current, described d shaft current feedback and described q shaft current feedback, so that the dq axle actual current mode consistent with the instruction of dq shaft current carried out Current Control, output d shaft voltage instruction and the instruction of q shaft voltage;
The dq/uvw coordinate converting section, it imports described d shaft voltage instruction, the instruction of described q shaft voltage and detection position, carries out from the coordinate transform of dq synchronous rotating frame to uvw three phase static coordinate system the instruction of output three-phase voltage; And
Converter, it imports this three-phase voltage instruction, applies actual three-phase voltage to motor, and this motor is carried out variable speed drive,
It is characterized in that having:
The superposed signal generating unit, it is set at zero with the instruction of q shaft current, exports the superposed signal of repetitive patterns such as triangular wave or sine wave simultaneously;
D shaft current instruction generating unit, it will be added in by the superposed signal that the superposed signal generating unit generates in the instruction of d shaft current, the instruction of output d shaft current;
Axle deviation test section, it imports this d shaft current instruction and the instruction of described q shaft current, output shaft drift angle presumed value;
Display part, it shows this axial deviation angle estimating value;
Memory, it stores this axial deviation angle estimating value; And
Axle offset correction portion, its input is stored in axial deviation angle estimating value and the described detection position in this memory, the position behind the output calibration.
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|---|---|---|---|
| PCT/JP2004/000028 WO2005067137A1 (en) | 2004-01-07 | 2004-01-07 | Motor controller |
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| CN1902813A true CN1902813A (en) | 2007-01-24 |
| CN100477483C CN100477483C (en) | 2009-04-08 |
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| CNB2004800401124A Expired - Fee Related CN100477483C (en) | 2004-01-07 | 2004-01-07 | Motor controller |
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|---|---|
| US (1) | US7511448B2 (en) |
| JP (1) | JP4496410B2 (en) |
| CN (1) | CN100477483C (en) |
| DE (1) | DE112004002619T5 (en) |
| GB (1) | GB2428144B (en) |
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- 2004-01-07 WO PCT/JP2004/000028 patent/WO2005067137A1/en active Application Filing
- 2004-01-07 DE DE112004002619T patent/DE112004002619T5/en not_active Ceased
- 2004-01-07 JP JP2005516772A patent/JP4496410B2/en not_active Expired - Fee Related
- 2004-01-07 CN CNB2004800401124A patent/CN100477483C/en not_active Expired - Fee Related
- 2004-01-07 GB GB0615648A patent/GB2428144B/en not_active Expired - Fee Related
- 2004-01-07 US US10/585,416 patent/US7511448B2/en not_active Expired - Fee Related
- 2004-02-19 TW TW093104053A patent/TWI234340B/en not_active IP Right Cessation
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| CN106575932B (en) * | 2014-09-30 | 2019-09-06 | 松下知识产权经营株式会社 | Control device of electric motor, method of motor control and motor control system |
| CN111293930A (en) * | 2018-12-07 | 2020-06-16 | 施耐德电气工业公司 | Method and device for controlling an electric machine |
| CN111293930B (en) * | 2018-12-07 | 2023-07-11 | 施耐德电气工业公司 | Method and device for controlling an electric machine |
| CN111371359A (en) * | 2018-12-24 | 2020-07-03 | 深圳市优必选科技有限公司 | Motor vector control method and device, terminal equipment and readable storage medium |
| CN109586635A (en) * | 2019-01-01 | 2019-04-05 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七二研究所） | A kind of permanent magnet synchronous motor method for controlling position-less sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| DE112004002619T5 (en) | 2006-10-26 |
| TWI234340B (en) | 2005-06-11 |
| US7511448B2 (en) | 2009-03-31 |
| CN100477483C (en) | 2009-04-08 |
| GB2428144B (en) | 2007-09-19 |
| JPWO2005067137A1 (en) | 2007-07-26 |
| US20080309265A1 (en) | 2008-12-18 |
| WO2005067137A1 (en) | 2005-07-21 |
| GB0615648D0 (en) | 2006-09-13 |
| TW200524264A (en) | 2005-07-16 |
| GB2428144A (en) | 2007-01-17 |
| JP4496410B2 (en) | 2010-07-07 |
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